Dynamic vehicle-mounted lifting mast platform posture measuring method

Abstract

The invention discloses a dynamic vehicle-mounted lifting mast platform posture measuring method. On the basis that platform posture variable quantity is acquired by using a conventional static calibration method, a dynamic measurement algorithm is introduced, that is, according to the mast platform posture data output from an inclined angle sensor, the vehicle body posture, the ground velocity and the geological position information output from a vehicle-mounted inertial navigation system, target indication data output from a stable rotating tower, angle speed information output from a posture measuring high-precision gyro and a stable rotating tower servo gyro, and lifting height data output from a mast control box, a posture updating matrix is established through a data processing system, and dynamic measurement on the posture of a mast platform can be achieved through real-time calculation. The mast platform posture variable quantity caused by factors such as self-twisting, inclination and bending of the mast and external disturbance such as wind power after the mast is lifted can be precisely measured, so that the influence on target positioning precision of a vehicle-mounted scouting system caused by mast posture change can be effectively reduced.

Description

technical field [0001] The invention belongs to the technical field of photoelectric reconnaissance, and mainly relates to a measurement method, in particular to a dynamic measurement method for measuring the attitude of a vehicle-mounted elevating mast platform. Background technique [0002] In recent years, the vehicle-mounted reconnaissance system has a new scheme of using the lifting mast, that is, the photoelectric reconnaissance equipment is placed on the top platform of the mast, and the lifting function of the mast is used to reduce the influence of factors such as ground objects and the curvature of the earth during work. The system can be used for visual distance purposes. [0003] The optoelectronic equipment of the vehicle-mounted reconnaissance system is mostly installed on the platform at the top of the mast in the form of a stable turntable, which generally contains angle-measuring and ranging sensors, which can output the azimuth, pitch and distance values ​​...

AI Technical Summary

Problems solved by technology

However, none of the current technologies can effectively solve the problem of the impact on the on-board reconnaissance system caused by factors such as the twisting, tilting and bending of the mast itself after the mast is lifted, as well as the attitude changes caused by external disturbances such as wind.

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